Tuning Guide

To ensure stable and responsive flight characteristics, proper tuning of the inner loop attitude controller and outer loop position controller is paramount. This guide aims to provide a systematic approach to tuning these controllers. When tuning the flight controller, it is crucial to follow a sequential order to ensure a systematic and effective tuning process. The recommended order of tuning is as follows:

  1. Roll-Pitch Controller:
    The Roll-Pitch controller is responsible for stabilizing the vehicle's roll and pitch angles. For tuning the Roll-Pitch, it is recommended to use the Attitude mode.
  2. Yaw Controller: The Yaw controller is responsible for stabilizing the vehicle's yaw angle. For tuning the Yaw controllers, it is recommended to use the Attitude mode.
  3. Vertical Controller:
    The Vertical controller is responsible for maintaining the vehicle's desired altitude. When tuning the Vertical controller, it is advisable to use the Altitude mode.
  4. Horizontal Controller:
    The Horizontal controller is responsible for maintaining the desired position and velocity. For tuning the controller, Position mode has to be used.

Follow these steps for each sub-controller

  • Initial Setup: Configure the controller with conservative gain values or use the default values to prevent aggressive control actions.
  • Proportional Gain Adjustment: Gradually increase the proportional gain while observing the system's response. Monitor the system's behavior, responsiveness, and potential oscillations. Adjust the proportional gain until the desired level of responsiveness is achieved.
  • Derivative Gain Incorporation: Introduce derivative gain to enhance the system's response to sudden changes. Evaluate the reduction of overshoot and the speed of stabilization. Fine-tune the derivative gain to optimize the system's behavior.
  • Integral Gain Integration: Incorporate integral gain to address steady-state errors or biases. Analyze the system's response to long-term errors caused by disturbances or biases. Adjust the integral gain to minimize steady-state errors and ensure accurate and stable control.

Note: The tuning procedure for INDI controllers is similar to that of PID, except for the absence of an integrator.